AC_PrecLand: Change parameter to bitmask

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -162,12 +162,12 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
     // @Units: m
     AP_GROUPINFO("ALT_MAX", 16, AC_PrecLand, _sensor_max_alt, 8),
 
-    // @Param: MOVING
-    // @DisplayName: Precision Landing Target stationary/moving
-    // @Description: Precision Landing Target stationary/moving
-    // @Values: 0:Stationary, 1:Moving
+    // @Param: OPTIONS
+    // @DisplayName: Precision Landing Extra Options
+    // @Description: Precision Landing Extra Options
+    // @Bitmask: 0: Moving Landing Target
     // @User: Advanced
-    AP_GROUPINFO("MOVING", 17, AC_PrecLand, _moving, 0),
+    AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),
 
     AP_GROUPEND
 };
@@ -422,7 +422,7 @@ bool AC_PrecLand::get_target_velocity_relative_cms(Vector2f& ret)
 // get the absolute velocity of the vehicle
 void AC_PrecLand::get_target_velocity_cms(const Vector2f& vehicle_velocity_cms, Vector2f& target_vel_cms)
 {
-    if (!_moving) {
+    if (!(_options & PLND_OPTION_MOVING_TARGET)) {
         // the target should not be moving
         target_vel_cms.zero();
         return;

libraries/AC_PrecLand/AC_PrecLand.h

@@ -125,6 +125,11 @@ private:
         SITL = 4,
     };
 
+    enum PLndOptions {
+        PLND_OPTION_DISABLED = 0,
+        PLND_OPTION_MOVING_TARGET = (1 << 0),
+    };
+
     // check the status of the target
     void check_target_status(float rangefinder_alt_m, bool rangefinder_alt_valid);
 
@@ -168,7 +173,7 @@ private:
     AP_Int8                     _retry_behave;      // Action to do when trying a landing retry
     AP_Float                    _sensor_min_alt;     // PrecLand minimum height required for detecting target
     AP_Float                    _sensor_max_alt;     // PrecLand maximum height the sensor can detect target
-    AP_Int8                     _moving;             // True if the landing target is moving (non-stationary)
+    AP_Int16                    _options;            // Bitmask for extra options
 
     uint32_t                    _last_update_ms;    // system time in millisecond when update was last called
     bool                        _target_acquired;   // true if target has been seen recently after estimator is initialized